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<pre><span class="sourceLineNo">001</span>/*<a name="line.1"></a>
<span class="sourceLineNo">002</span> * To change this template, choose Tools | Templates<a name="line.2"></a>
<span class="sourceLineNo">003</span> * and open the template in the editor.<a name="line.3"></a>
<span class="sourceLineNo">004</span> */<a name="line.4"></a>
<span class="sourceLineNo">005</span>package edu.wpi.first.wpilibj.templates.commands.lifter;<a name="line.5"></a>
<span class="sourceLineNo">006</span><a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.templates.RobotMap;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.templates.commands.CommandBase;<a name="line.9"></a>
<span class="sourceLineNo">010</span><a name="line.10"></a>
<span class="sourceLineNo">011</span>/**<a name="line.11"></a>
<span class="sourceLineNo">012</span> *<a name="line.12"></a>
<span class="sourceLineNo">013</span> * @author user<a name="line.13"></a>
<span class="sourceLineNo">014</span> */<a name="line.14"></a>
<span class="sourceLineNo">015</span>public class MoveToCycles extends CommandBase {<a name="line.15"></a>
<span class="sourceLineNo">016</span>    <a name="line.16"></a>
<span class="sourceLineNo">017</span>    private int target;<a name="line.17"></a>
<span class="sourceLineNo">018</span>    private String targetSmartDashboard;<a name="line.18"></a>
<span class="sourceLineNo">019</span>    private boolean goingBack;<a name="line.19"></a>
<span class="sourceLineNo">020</span>    public MoveToCycles() {<a name="line.20"></a>
<span class="sourceLineNo">021</span>        // Use requires() here to declare subsystem dependencies<a name="line.21"></a>
<span class="sourceLineNo">022</span>        // eg. requires(chassis);<a name="line.22"></a>
<span class="sourceLineNo">023</span>        this.target=-1;<a name="line.23"></a>
<span class="sourceLineNo">024</span>        this.targetSmartDashboard="";<a name="line.24"></a>
<span class="sourceLineNo">025</span>    }<a name="line.25"></a>
<span class="sourceLineNo">026</span>    public MoveToCycles(int target)<a name="line.26"></a>
<span class="sourceLineNo">027</span>    {<a name="line.27"></a>
<span class="sourceLineNo">028</span>        this.target=target;<a name="line.28"></a>
<span class="sourceLineNo">029</span>        this.targetSmartDashboard="";<a name="line.29"></a>
<span class="sourceLineNo">030</span>    }<a name="line.30"></a>
<span class="sourceLineNo">031</span>    public MoveToCycles(String targetSmartDashboard)<a name="line.31"></a>
<span class="sourceLineNo">032</span>    {<a name="line.32"></a>
<span class="sourceLineNo">033</span>        this.targetSmartDashboard=targetSmartDashboard;<a name="line.33"></a>
<span class="sourceLineNo">034</span>        this.target=-1;<a name="line.34"></a>
<span class="sourceLineNo">035</span>    }<a name="line.35"></a>
<span class="sourceLineNo">036</span><a name="line.36"></a>
<span class="sourceLineNo">037</span>    // Called just before this Command runs the first time<a name="line.37"></a>
<span class="sourceLineNo">038</span>    protected void initialize() <a name="line.38"></a>
<span class="sourceLineNo">039</span>    {<a name="line.39"></a>
<span class="sourceLineNo">040</span>        if(this.targetSmartDashboard!="")<a name="line.40"></a>
<span class="sourceLineNo">041</span>            target=(int)SmartDashboard.getNumber(targetSmartDashboard);<a name="line.41"></a>
<span class="sourceLineNo">042</span>        else<a name="line.42"></a>
<span class="sourceLineNo">043</span>            switch (target) {<a name="line.43"></a>
<span class="sourceLineNo">044</span>                case (-1):<a name="line.44"></a>
<span class="sourceLineNo">045</span>                    target = (int) SmartDashboard.getNumber("Target Cycles: ");<a name="line.45"></a>
<span class="sourceLineNo">046</span>                    break;<a name="line.46"></a>
<span class="sourceLineNo">047</span>                case (-2):<a name="line.47"></a>
<span class="sourceLineNo">048</span>                    target = (int) SmartDashboard.getNumber("Hanged Position in Cycles: ");<a name="line.48"></a>
<span class="sourceLineNo">049</span>                    break;<a name="line.49"></a>
<span class="sourceLineNo">050</span>                case (-3):<a name="line.50"></a>
<span class="sourceLineNo">051</span>                    target = (int) SmartDashboard.getNumber("Collection Position in Cycles: ");<a name="line.51"></a>
<span class="sourceLineNo">052</span>                    break;<a name="line.52"></a>
<span class="sourceLineNo">053</span>                case (-4):<a name="line.53"></a>
<span class="sourceLineNo">054</span>                    target = (int) SmartDashboard.getNumber("Hanging Position in Cycles: ");<a name="line.54"></a>
<span class="sourceLineNo">055</span>                    break;<a name="line.55"></a>
<span class="sourceLineNo">056</span>                case (-5):<a name="line.56"></a>
<span class="sourceLineNo">057</span>                    target = (int) SmartDashboard.getNumber("Scoring Position in Cycles: ");<a name="line.57"></a>
<span class="sourceLineNo">058</span>                    break;<a name="line.58"></a>
<span class="sourceLineNo">059</span>            }<a name="line.59"></a>
<span class="sourceLineNo">060</span>        if(target&gt;SmartDashboard.getNumber("Cycles: "))<a name="line.60"></a>
<span class="sourceLineNo">061</span>        {<a name="line.61"></a>
<span class="sourceLineNo">062</span>            lifter.setSpeedLifter(0.5); //to be tested<a name="line.62"></a>
<span class="sourceLineNo">063</span>            goingBack=false;<a name="line.63"></a>
<span class="sourceLineNo">064</span>        }<a name="line.64"></a>
<span class="sourceLineNo">065</span>        else<a name="line.65"></a>
<span class="sourceLineNo">066</span>        {<a name="line.66"></a>
<span class="sourceLineNo">067</span>            lifter.setSpeedLifter(-0.5); //to be tested<a name="line.67"></a>
<span class="sourceLineNo">068</span>            goingBack=true;<a name="line.68"></a>
<span class="sourceLineNo">069</span>        }<a name="line.69"></a>
<span class="sourceLineNo">070</span>    }<a name="line.70"></a>
<span class="sourceLineNo">071</span><a name="line.71"></a>
<span class="sourceLineNo">072</span>    // Called repeatedly when this Command is scheduled to run<a name="line.72"></a>
<span class="sourceLineNo">073</span>    protected void execute() {<a name="line.73"></a>
<span class="sourceLineNo">074</span>        <a name="line.74"></a>
<span class="sourceLineNo">075</span>    }<a name="line.75"></a>
<span class="sourceLineNo">076</span><a name="line.76"></a>
<span class="sourceLineNo">077</span>    // Make this return true when this Command no longer needs to run execute()<a name="line.77"></a>
<span class="sourceLineNo">078</span>    protected boolean isFinished() {<a name="line.78"></a>
<span class="sourceLineNo">079</span>        if(goingBack)<a name="line.79"></a>
<span class="sourceLineNo">080</span>            if (target &lt;= (int) SmartDashboard.getNumber("Cycles: "))<a name="line.80"></a>
<span class="sourceLineNo">081</span>                return true;<a name="line.81"></a>
<span class="sourceLineNo">082</span>            else if(lifter.getBottom())<a name="line.82"></a>
<span class="sourceLineNo">083</span>                return true;<a name="line.83"></a>
<span class="sourceLineNo">084</span>        if(!goingBack)<a name="line.84"></a>
<span class="sourceLineNo">085</span>            if (target &gt;= (int) SmartDashboard.getNumber("Cycles: "))<a name="line.85"></a>
<span class="sourceLineNo">086</span>                return true;<a name="line.86"></a>
<span class="sourceLineNo">087</span>            else if(lifter.getTop())<a name="line.87"></a>
<span class="sourceLineNo">088</span>                return true;<a name="line.88"></a>
<span class="sourceLineNo">089</span>        return false;<a name="line.89"></a>
<span class="sourceLineNo">090</span>    }<a name="line.90"></a>
<span class="sourceLineNo">091</span><a name="line.91"></a>
<span class="sourceLineNo">092</span>    // Called once after isFinished returns true<a name="line.92"></a>
<span class="sourceLineNo">093</span>    protected void end() {<a name="line.93"></a>
<span class="sourceLineNo">094</span>        lifter.setSpeedLifter(0);<a name="line.94"></a>
<span class="sourceLineNo">095</span>        System.out.println("Lifter Moved to: "+this.target);<a name="line.95"></a>
<span class="sourceLineNo">096</span>    }<a name="line.96"></a>
<span class="sourceLineNo">097</span><a name="line.97"></a>
<span class="sourceLineNo">098</span>    // Called when another command which requires one or more of the same<a name="line.98"></a>
<span class="sourceLineNo">099</span>    // subsystems is scheduled to run<a name="line.99"></a>
<span class="sourceLineNo">100</span>    protected void interrupted() {<a name="line.100"></a>
<span class="sourceLineNo">101</span>    }<a name="line.101"></a>
<span class="sourceLineNo">102</span>}<a name="line.102"></a>




























































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